Bárbara Barros Carlos

Bárbara Barros Carlos

PhD student in robotics


Bárbara Barros Carlos is a PhD student in robotics at Sapienza University of Rome. Her research interests include aerial robotics and real-time nonlinear model predictive control.


  • Aerial Robotics
  • Real-Time Nonlinear Model Predictive Control
  • Motion Planing and Control


  • PhD in Robotics, Present

    Sapienza University of Rome, Italy

  • BSc in Mechatronics Engineering, 2017

    Federal Institute of Ceará, Brazil


Programming Languages

C/C++, Python, MATLAB

Building Systems

Catkin, CMake, Make

Development Tools

PyCharm, Vim, Terminal (Linux/MacOS)

Numerical Optimization Tools

CasADi, ACADO, acados

NMPC Solvers


Operating Systems

Linux, MacOS, ROS


AVR Family (Atmega32), PIC18 Family, ARM Cortex-A8 Microprocessor


Git, LaTeX, GenoM3





Jan 2015 – Jun 2017 Fortaleza, Brazil

Responsibilities include:

  • Quadrotor hardware technician.
  • Development of an autopilot using BeagleBone Black.
  • Technical project writer.

Undergraduate Research Assistant


Aug 2014 – Aug 2017 Fortaleza, Brazil
Development of a quadrotor prototype.

Educational Robotics Teacher


Dec 2013 – Dec 2014 Fortaleza, Brazil

Responsibilities include:

  • PIC 18FXX5X-based embedded systems development.
  • Taught logic, programming language, electricity and basic electronics.


Visiting PhD student

I was working with embedded NMPC applied to quadrotors and human-quadrotor mixed-initiative control via NMPC. I have also developed an NMPC for a quadrotor-slung payload system for the task of transportation on suspension.

Supervisor: Antonio Franchi

Visiting PhD student

I was working with embedded numerical optimization methods applied to the motion generation of a pendubot and a quadrotor. For the former, I developed a solution for periodic motion generation for orbital stabilization. As for the latter, I developed a solution for real-time motion generation in dynamic environments and a sensitivity-based NMPC.

Supervisor: Moritz Diehl

PhD in Automatica, Bioingegneria e Ricerca Operativa

Thesis title: "Real-Time Nonlinear Model Predictive Control for Motion Generation in Robotic Systems"
Supervisor: Giuseppe Oriolo

BSc in Mechatronics Engineering

I was following a five years program where the focus was industrial automation and robotics.

Thesis title: "Modeling, Control and Simulation of a Quadrotor for Attitude Stabilization"
Supervisor: Auzuir Ripardo de Alexandria